pcl_conversions_indigo.h
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00001 /*
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00035 
00036 #ifndef INDIGO_PCL_CONVERSIONS_H__
00037 #define INDIGO_PCL_CONVERSIONS_H__
00038 
00039 #include <vector>
00040 
00041 #include <ros/ros.h>
00042 
00043 #include <pcl/conversions.h>
00044 
00045 #include <pcl/PCLHeader.h>
00046 #include <std_msgs/Header.h>
00047 
00048 #include <pcl/PCLImage.h>
00049 #include <sensor_msgs/Image.h>
00050 
00051 #include <pcl/PCLPointField.h>
00052 #include <sensor_msgs/PointField.h>
00053 
00054 #include <pcl/PCLPointCloud2.h>
00055 #include <sensor_msgs/PointCloud2.h>
00056 
00057 #include <pcl/PointIndices.h>
00058 #include <pcl_msgs/PointIndices.h>
00059 
00060 #include <pcl/ModelCoefficients.h>
00061 #include <pcl_msgs/ModelCoefficients.h>
00062 
00063 #include <pcl/Vertices.h>
00064 #include <pcl_msgs/Vertices.h>
00065 
00066 #include <pcl/PolygonMesh.h>
00067 #include <pcl_msgs/PolygonMesh.h>
00068 
00069 #include <pcl/io/pcd_io.h>
00070 
00071 #include <Eigen/StdVector>
00072 #include <Eigen/Geometry>
00073 
00074 namespace pcl_conversions {
00075 
00078   inline
00079   void fromPCL(const pcl::uint64_t &pcl_stamp, ros::Time &stamp)
00080   {
00081     stamp.fromNSec(pcl_stamp * 1e3);  // Convert from us to ns
00082   }
00083 
00084   inline
00085   void toPCL(const ros::Time &stamp, pcl::uint64_t &pcl_stamp)
00086   {
00087     pcl_stamp = stamp.toNSec() / 1e3;  // Convert from ns to us
00088   }
00089 
00090   inline
00091   ros::Time fromPCL(const pcl::uint64_t &pcl_stamp)
00092   {
00093     ros::Time stamp;
00094     fromPCL(pcl_stamp, stamp);
00095     return stamp;
00096   }
00097 
00098   inline
00099   pcl::uint64_t toPCL(const ros::Time &stamp)
00100   {
00101     pcl::uint64_t pcl_stamp;
00102     toPCL(stamp, pcl_stamp);
00103     return pcl_stamp;
00104   }
00105 
00108   //inline
00109   //void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::Header &header)
00110   //{
00111     //fromPCL(pcl_header.stamp, header.stamp);
00112     //header.seq = pcl_header.seq;
00113     //header.frame_id = pcl_header.frame_id;
00114   //}
00115 
00116   //inline
00117   //void toPCL(const std_msgs::Header &header, pcl::PCLHeader &pcl_header)
00118   //{
00119     //toPCL(header.stamp, pcl_header.stamp);
00120     //pcl_header.seq = header.seq;
00121     //pcl_header.frame_id = header.frame_id;
00122   //}
00123 
00124   //inline
00125   //std_msgs::Header fromPCL(const pcl::PCLHeader &pcl_header)
00126   //{
00127     //std_msgs::Header header;
00128     //fromPCL(pcl_header, header);
00129     //return header;
00130   //}
00131 
00132   //inline
00133   //pcl::PCLHeader toPCL(const std_msgs::Header &header)
00134   //{
00135     //pcl::PCLHeader pcl_header;
00136     //toPCL(header, pcl_header);
00137     //return pcl_header;
00138   //}
00139 
00140 }
00141 
00142 #endif


rb_tracker
Author(s): Roberto Martín-Martín
autogenerated on Sat Jun 8 2019 18:26:42